A Harvest Vehicle with Pneumatic Servo System for gathering a Harvest and its Simulation Study

A series of works such as harvesting and transporting in a farm is one of such works with so care as not to damage the harvest in order to maintain the value of harvests. We are developing an autonomous cart for gathering a harvest with the bed to be controlled to keep in horizontal level at work and in transit, in order to avoid harvests gathered in particular area of the bed and to keep away from being damaged in harvests. It is proposed a method of autonomous steering control of a harvest vehicle with maintaining the horizontal level of the bed of the cart with air cylinder suspension systems. It is shown that the problem of a level control of vehicle’s bed can be formulated as one of optimal control problems. Finally, its simulation study is considered.